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#ifndef MAPVIZ_PLUGINS_COORDINATE_PICKER_PLUGIN_H_
#define MAPVIZ_PLUGINS_COORDINATE_PICKER_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

// ROS Libraries
#include <ros/ros.h>

// Mapviz libraries
#include <mapviz/map_canvas.h>

// QT autogenerated files
#include "ui_coordinate_picker_config.h"

namespace mapviz_plugins
{
  class CoordinatePickerPlugin : public mapviz::MapvizPlugin
  {
    Q_OBJECT

    public:

      CoordinatePickerPlugin();
      virtual ~CoordinatePickerPlugin();

      bool Initialize(QGLWidget* canvas);
      void Shutdown() { };

      void Draw(double x, double y, double scale);
      void Transform() { };
      
      void LoadConfig(const YAML::Node& node, const std::string& path);
      void SaveConfig(YAML::Emitter& emitter, const std::string& path);

      QWidget* GetConfigWidget(QWidget* parent);

      void PrintError(const std::string& message);
      void PrintInfo(const std::string& message);
      void PrintWarning(const std::string& message);

    protected:
      bool eventFilter(QObject* object, QEvent* event);
      bool handleMousePress(QMouseEvent*);
      bool handleMouseRelease(QMouseEvent*);
      bool handleMouseMove(QMouseEvent*);

    protected Q_SLOTS:
      void SelectFrame();
      void FrameEdited();
      void ToggleCopyOnClick(int state);
      void ClearCoordList();

    private:
      Ui::coordinate_picker_config ui_;
      QWidget* config_widget_;
      mapviz::MapCanvas* map_canvas_;

      bool copy_on_click_;
  };


}

#endif // MAPVIZ_PLUGINS_COORDINATE_PICKER_PLUGIN_H_

